enum mp2p_icp_filters::MotionCompensationMethod

Overview

Enum to select the pointcloud motion compensation method in FilterDeskew. More…

#include <FilterDeskew.h>

enum MotionCompensationMethod
{
    None   = 0,
    Linear,
    IMU,
    IMUh,
    IMUt,
};

Detailed Documentation

Enum to select the pointcloud motion compensation method in FilterDeskew.

Refer to mathematical description for each method in the paper [TO-DO].

Enum Values

None

No compensation: all points are considered to be at vehicle pose for reference_time =0

Linear

Constant linear and angular velocity model to interpolate between key-frames

IMU

IMU-based integration between IMU frames using Euler integration of constant linear acceleration and angular velocity

IMUh

IMU-based integration between IMU frames using (h) higher-order terms: constant jerk and angular acceleration

IMUt

IMU-based integration between IMU frames using (t) trapezoidal integration of constant linear acceleration and angular velocity